1. Product Overview

2. Technical Specifications

2.1 Electrical

• Operating Voltage: 24 V DC ±10%

• Power Consumption: ≈ 10 W

• Isolation: Opto‑isolated digital I/O (500 Vrms for 1 minute)

2.2 I/O Configuration

• Inputs: 16 channels, 24 V DC, sink/source selectable, 10 mA/channel

• Outputs: 16 channels, 24 V DC, 0.5 A/channel, short‑circuit protected

• Inputs: 4 channels, 0–10 V DC / 4–20 mA, 12‑bit resolution

• Outputs: 2 channels, 0–10 V DC / 4–20 mA, 12‑bit resolution

2.3 Physical

• Dimensions: 180 mm × 120 mm × 30 mm

• Weight: ≈ 0.8 kg

• Mounting: Standard 3U slot in XRC controller chassis

2.4 Environmental

• Operating Temperature: 0 °C to +40 °C (non‑condensing)

• Storage Temperature: −20 °C to +60 °C

• Humidity: 30%–80% RH (non‑condensing)

• Vibration: ≤0.5 G (10–500 Hz)

• Altitude: ≤1,000 m (no derating)

2.5 Compliance

• CE (EN 61131‑2), UL 508, CSA C22.2 No. 142

3. Compatibility

• Controller: Motoman XRC / XR‑C (all firmware versions v3.x–v5.x)

• Compatible Boards: JANCD‑CU02 / CU05 / CU06 / CU07 (same form factor & bus interface)

• Replacement: Direct replacement for older JANCD‑CU02/CU05 I/O boards

4. Interface Connectors

• CN1: 24 V DC power input (2‑pin)

• CN2: Digital I/O terminal block (34‑pin)

• CN3: Analog I/O terminal block (12‑pin)

• CN4: System bus (to CPU board JANCD‑CU06, 40‑pin)

• CN5: Shield & ground connection

5. Key Features

• High‑Speed Signal Processing: Fast response for real‑time robot control

• Noise Immunity: Opto‑isolation and EMC filtering for harsh industrial environments

• Easy Configuration: I/O mapping via teach pendant or XRC software

• Hot‑Swap Support: Replaceable without system shutdown (in redundant setups)

• Diagnostic LEDs: Power, communication, and I/O status indicators

6. Applications

• Welding Robots: Arc start/stop, gas control, wire feed speed analog output

• Material Handling: Conveyor control, sensor input, gripper actuation

• Painting Robots: Analog flow control, spray gun on/off, safety interlocks

• Assembly Lines: PLC intercommunication, tool change signals, quality sensors

7. Installation & Maintenance

1. Power OFF the XRC controller and lockout/tagout.

2. Remove the controller’s front cover.

3. Insert JANCD‑CU20 into an empty 3U slot; secure with two screws (0.6–0.8 N·m).

4. Connect CN1–CN5 cables; ensure tight, secure connections.

5. Power ON; run I/O self‑diagnosis via the teach pendant to verify operation.

8. Troubleshooting (XRC Fault Codes)

• E21: I/O board power failure → Check 24 V DC supply and CN1 wiring.

• E22: I/O communication error → Verify CN4 bus cable and CPU board.

• E23: Digital input short circuit → Inspect field wiring and sensors.

• E24: Analog output overload → Check load impedance and wiring.

9. Commercial Information

• New Original Price: USD 1,200–1,600

• Refurbished Price: USD 500–800

• Warranty: 12 months (new), 6 months (refurbished)